CN206475957U - Modularized robot suitable for narrow space - Google Patents
Modularized robot suitable for narrow space Download PDFInfo
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- CN206475957U CN206475957U CN201621454910.8U CN201621454910U CN206475957U CN 206475957 U CN206475957 U CN 206475957U CN 201621454910 U CN201621454910 U CN 201621454910U CN 206475957 U CN206475957 U CN 206475957U
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- 238000005452 bending Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 239000007789 gas Substances 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 108090000565 Capsid Proteins Proteins 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
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- 230000006698 induction Effects 0.000 description 2
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Abstract
The utility model relates to the field of mobile robots, in particular to a modular robot suitable for narrow space, which comprises a camera pan-tilt, a connecting module and a mobile module, wherein the two mobile modules are connected through the connecting module, and the camera pan-tilt is arranged at the front end of a first mobile module; the mobile module comprises a shell, mobile crawler units, a power transmission system and a driving motor, wherein the driving motor and the power transmission system are arranged at the front end of the shell, the power transmission system comprises an output transmission mechanism, a worm, a plurality of worm wheels and a plurality of transfer transmission mechanisms, the worm is driven to rotate by the driving motor, the driving motor transmits torque through the output transmission mechanism, the worm wheels are uniformly distributed along the circumferential direction of the worm, each mobile crawler unit is driven by different worm wheels, the worm wheels transmit torque through any transfer transmission mechanism, and a control system of the camera holder is arranged in the first mobile module shell. The utility model discloses can walk in narrow and small space and hinder more to multiple monitoring function has.
Description
Technical field
The utility model is related to mobile robot field, specifically a kind of module machine for adapting to small space
People.
Background technology
Cable duct is excavated and built by laying bricks or stones by design requirement, and the sidewall weld load slotted-angle shelving of ditch is simultaneously grounded on request, above
Lid, with the underdrain of cover plate, is the underground designated lane of cabling., there is rubbish and debris heap in humid in cable duct
Product, ponding and mud, waste and old cable such as do not remove at the various problems, and adding cable insulation aging can fire hazard and underground
Environment long term seal causes pernicious gas to accumulate, and manual inspection has great difficulty, and this requires to be applied to patrolling in cable duct
Robot is examined in addition to possessing good travelling performance, in addition it is also necessary to good landform adaptability, obstacle climbing ability and satisfaction mark
The dustproof and waterproof performance of alignment request, it furthermore should also have the vision of real time status, humiture, gas detection in feedback cable ditch
Ability, and existing crusing robot carries out inspection work because the limitation of own dimensions condition can not enter small space
Industry.
Utility model content
The purpose of this utility model is to provide a kind of modularization robot for adapting to small space, can be in small space
Interior moving obstacle-crossing, with functions such as monitoring image, humiture, gases, power network underground installation can be achieved in mechanical structure water proof and dust proof
Regular visit is automated, potential faults are found in time, cable fault incidence is reduced.
The purpose of this utility model is achieved through the following technical solutions：
A kind of modularization robot for adapting to small space, including camera pan-tilt, link block and two mobile modules,
Described two mobile modules are connected by link block, and the camera pan-tilt is arranged on the first mobile module front end of front side；
The mobile module includes housing, mobile track unit, power drive system and motor, sets up separately wherein moving track unit
In each side of housing, motor and power drive system may be contained within housing forward end, and the power drive system includes output and passed
Motivation structure, worm screw, multiple worm gears and multiple transfer case transmission mechanisms, the worm screw are driven by the motor and rotated, and institute
State motor and torque is transmitted by the output transmission mechanism, circumferencial direction of the multiple worm gear along the worm screw is equal
Cloth, mobile track unit of the housing per side is by any worm-gear driven, and the worm gear passes through any transfer driver
Structure transmits torque, and the set-up of control system of the camera pan-tilt is in the housing of first mobile module, and the movement is carried out
Tape cell front end is provided with one section of inclined tilting section in inside side.
Output transmission mechanism in the power drive system includes the travelling gear of two engagements, wherein the first driving cog
Wheel is arranged on the motor output shaft of the motor, and the second travelling gear is arranged at the worm shaft of the worm screw.
The transfer case transmission mechanism is a synchronous belt drive mechanism, and wherein driving pulley is arranged at the worm-wheel shaft of worm gear
On, the mobile track unit front end is provided with crawler driving whell, and the driving pulley passes through timing belt and the crawler driving whell
It is connected.
The mobile track unit includes the first crawler belt, the second crawler belt, track wheel shaft and traveling wheel, each in the housing
Surface both sides are equipped with track wheel shaft fixed mount, and the track wheel shaft two ends are separately mounted to the track wheel shaft fixed mount of both sides
On, crawler belt support wheel is provided with the track wheel shaft, first crawler belt and the second crawler belt pass through on each track wheel shaft
Crawler belt support wheel is supported, and each track wheel shaft two ends are equipped with traveling wheel, the track wheel shaft of the mobile track unit foremost
It is provided with crawler driving whell.
Provided with an adjusting idler wheel axle on front side of the track wheel shaft of the mobile track unit foremost, in the crawler belt
Wheel shaft is induced to be provided with adjusting idler wheel, the inside foremost of first crawler belt and the second crawler belt is rolled tiltedly and carried out by described
With the adjusting idler wheel support on induction wheel shaft.
A crawler tensioning wheel shaft is provided with the bending part of the mobile track unit, is set on the crawler tensioning wheel shaft
There are two crawler tension wheels, wherein the first crawler belt is tilted after bypassing the first crawler tension wheel to inner side, the second crawler belt bypasses second
Tilted after crawler tension wheel to inner side.
Described two mobile module front ends are equipped with pole, adjusting idler wheel axle and crawler tensioning wheel shaft the two ends difference
It is packed on the pole of both sides.
The link block includes pitch-control motor, yaw steering wheel, the first steering wheel fixed mount, the second steering wheel fixed mount and cross
Link, the first steering wheel fixed mount and the second steering wheel fixed mount are hingedly connected on cross link, and first rudder
Machine fixed mount pitching, the second steering wheel fixed mount horizontally rotates, and pitch-control motor is arranged on the first steering wheel fixed mount
On, yaw steering wheel is arranged on the second steering wheel fixed mount.
Advantage of the present utility model is with good effect：
1st, the utility model compact, compact conformation, lightweight, is designed using IP65 water proof and dust proofs, can enter sky
Between narrow and small and complicated environment buried cable gallery space, realize the function such as advance, retreat, turning to.
2nd, the utility model has stronger ground adaptability and obstacle climbing ability, its exclusive four sides " crawler belt+traveling
Wheel " structure can avoid the collision of robot housing and ground or wall in the process of moving, and ignore that run over may in journey
The rollover problem of appearance, in addition, robot can be realized crosses over the barriers such as the cable of different height in cable duct, and root
According to the size of barrier independently choose link block between obstacle detouring form, robot mobile module can active control and by
It is dynamic it is submissive between switch over, better adapt to the road environment in cable duct；
3rd, the utility model can measure the epidemic disaster and pernicious gas composition in cable duct, find potential faults, drop
Low cable fault rate, it is to avoid the various hazards being likely encountered due to manual inspection.
4th, various functions index of the present utility model is as follows：More than 200mm buried cable ditch can be passed through；Weight is less than
15kg；Endurance is more than 5h；The maximum speed of travel is more than 0.9km/h；The high obstacles of 200mm can be crossed, direct obstacle detouring can be got over
Cross 30mm high obstacle things；Limit ramp angle is 60 °；Load capacity is more than 2kg；Min. turning radius is 587.5mm；Fuselage is prevented
Grade is protected up to IP65.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model,
Fig. 2 is the first mobile module schematic diagram of the present utility model,
Fig. 3 is the mobile track unit schematic diagram on the utility model mobile module,
Fig. 4 is the power drive system schematic diagram on the utility model mobile module,
Fig. 5 is the link block schematic diagram between the utility model mobile module,
Fig. 6 is direct obstacle detouring flow chart of the present utility model,
Fig. 7 is that the utility model lifts the first mobile module and utilizes crawler belt leading portion obstacle detouring flow chart,
Fig. 8 is that the utility model lifts the first mobile module and utilizes crawler belt back segment obstacle detouring flow chart,
Fig. 9 is obstacle detouring extreme position schematic diagram of the present utility model,
Figure 10 is articulation steering schematic diagram of the present utility model,
Figure 11 turns to schematic flow sheet for the mobile module of the present utility model that lifts.
Wherein, 1 is camera pan-tilt, and 2 be the first mobile module, and 3 be link block, and 4 be the second mobile module, and 5 are
Power transmission system, 6 be procapsid cover plate, and 7 be housing, and 8 be mobile track unit, and 9 be back casing cover plate, and 10 is solid for track wheel shaft
Determine frame, 11 be adjusting idler wheel, 12 be adjusting idler wheel axle, 13 be crawler driving whell, 14 be the first crawler tension wheel, 15 be the
One crawler belt, 16 be crawler tensioning wheel shaft, and 17 be the second crawler tension wheel, and 18 be crawler belt support wheel for traveling wheel, 19, and 20 be crawler belt
Wheel shaft, 21 be the second crawler belt, and 22 be motor, and 23 be timing belt, and 24 be driving pulley, and 25 be worm gear, and 26 be worm-wheel shaft, 27
It is the second travelling gear for worm screw, 28,29 be the first travelling gear, and 30 be motor output shaft, and 31 be the second steering wheel fixed mount, 32
It is the first steering wheel fixed mount for yaw steering wheel, 33,34 be cross link, and 35 be pitch-control motor.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the utility model includes camera pan-tilt 1, the first mobile module 2, the second mobile module 4 and connection
Module 3, described two mobile modules are connected by link block 3, and the camera pan-tilt 1 is arranged on the first movement mould of front side
The front end of block 2.
As shown in figs. 2 to 4, the mobile module includes housing 7, track assembly, power drive system 5 and motor
22, wherein the track assembly includes multiple mobile track units 8, the housing 7 is rectangle, in the upper and lower sides of housing 7
A mobile track unit 8 is equipped with left and right sides, motor 22 and power drive system 5 may be contained within the front end of housing 7, such as
Shown in Fig. 4, the power drive system 5 includes output transmission mechanism, worm screw 27, multiple worm gears 25 and multiple transfer drivers
Structure, the worm screw 27 is driven by the motor 22 and rotated, and the motor 22 is passed by the output transmission mechanism
Pass torque, circumferencial direction of the multiple worm gear 25 along the worm screw 27 is uniform and each correspondence of worm gear 25 one moves crawler belt
Unit 8, the worm screw 27, which rotates, drives the multiple synchronous axial system of worm gear 25, as shown in figure 3, in the housing 7 per side
The front end of mobile track unit 8 be equipped with a crawler driving whell 13, the multiple worm gear 25 passes through a transfer and is driven respectively
Mechanism is connected with the crawler driving whell 13 in the mobile track unit 8 of each side of housing 7, so as to realize each movement crawler belt list of driving
First 8 synchronizing movings.
As shown in figure 4, the output transmission mechanism in power drive system 5 includes the travelling gear of two engagements, wherein the
One travelling gear 29 is arranged on the motor output shaft 30 of the motor 22, and the second travelling gear 28 is arranged at the worm screw
27 worm shaft, the transfer case transmission mechanism is a synchronous belt drive mechanism, and wherein driving pulley 24 is arranged at the worm gear
On 25 worm-wheel shaft 26, the driving pulley 24 is connected by timing belt 23 with the crawler driving whell 13.
As shown in figure 3, the mobile track unit 8 includes the first crawler belt 15, the second crawler belt 21, track wheel shaft 20 and traveling
Wheel 18, as shown in Fig. 2 being equipped with the L-shaped track wheel shaft fixed mount 10 in cross section, institute in each surface both sides of the housing 7
State the two ends of track wheel shaft 20 to be separately mounted on the track wheel shaft fixed mount 10, crawler belt branch is provided with the track wheel shaft 20
Support wheel 19, the crawler belt 21 of the first crawler belt 15 and second is supported by the crawler belt support wheel 19 on each track wheel shaft 20, each
The two ends of track wheel shaft 20 are equipped with traveling wheel 18, and the structure of this " crawler belt+traveling wheel " can avoid robot in the mistake of traveling
The housing 7 being likely to occur in journey during lateral tilt and ground or wall collision phenomenon, the crawler driving whell 13 are arranged at movement
On the track wheel shaft 20 of track unit 8 foremost.A crawler belt induction is additionally provided with the front side of track wheel shaft 20 foremost
Wheel shaft 12, pole is provided with mobile module front end, and the adjusting idler wheel axle 12 is shorter in length than the track wheel shaft 20 and two ends
It is packed in respectively on the pole of both sides, as shown in Fig. 2 the camera pan-tilt 1 of the front end of the first mobile module 2 passes through the pole
It is fixed, it is provided with adjusting idler wheel 11 on the adjusting idler wheel axle 12, the crawler belt 21 of the first crawler belt 15 and second is to inner side
Inclined end is supported by the adjusting idler wheel 11 on the adjusting idler wheel axle 12, the mobile front end of track unit 8
Tilting section can aid in mobile module to realize a variety of obstacle detouring forms.
As shown in figure 3, in order to ensure that the first crawler belt 15 and the second crawler belt 21 are tensioned, the two of the mobile track unit 8
Individual crawler belt bending part is additionally provided with a crawler tensioning wheel shaft 16, and the length of crawler tensioning wheel shaft 16 is also shorter than the track wheel shaft
20 and two ends be packed in respectively on the pole of mobile module front end, provided with two crawler tensionings on the crawler tensioning wheel shaft 16
Wheel, wherein the first crawler belt 15 is tilted after bypassing the first crawler tension wheel 14 to inner side, the second crawler belt 21 bypasses the second crawler tensioning
Tilted after wheel 17 to inner side.
As shown in figure 5, the link block 3 includes pitch-control motor 35, yaw steering wheel 32, the first steering wheel fixed mount 33, the
Two steering wheel fixed mounts 31 and cross link 34, the first steering wheel fixed mount 33 and the second steering wheel fixed mount 31 are hingedly connected to
On cross link 34, and the pitching of the first steering wheel fixed mount 33, the second steering wheel fixed mount 31 horizontally rotates, bowed
Steering wheel 35 is faced upward on the first steering wheel fixed mount 33, yaw steering wheel 32 is arranged on the second steering wheel fixed mount 31,
Two frees degree of pitching and horizontal hunting can realize switching actively and passively, when robot ambulation, the connection mould
Block 3 is passively controlled, to adapt to irregular ground environment, and when robot needs obstacle detouring or turning, the link block 3 is actively
Control, it is possible to achieve pitching and the adjustment of yaw drift angle to isomorphism mobile unit.The pitch-control motor 35 and yaw steering wheel 32 are
Techniques well known.
As shown in Fig. 2 being provided with procapsid cover plate 6 in the front end of housing 7, back casing lid is provided with the rear end of housing 7
Various control modules, sensor group and wireless transport module in plate 9, control system may be contained within the housing 7, described
Housing 7 is enclosed construction, it is ensured that inner member is not influenceed by the dark wet environment such as pipeline, cable duct.
Operation principle of the present utility model is：
As can be seen from figures 6 to 8, the utility model has three kinds of obstacle detouring forms：
The first is that environment is complicated in direct obstacle detouring, cable duct, and robot needs to overcome sand-gravel surface during inspection
The road barrier that the stone that upper all size differs is formed, when the height of barrier is not more than before the mobile track unit 8
When holding the terrain clearance of tilting section end, robot can easily be crossed without changing any posture, as shown in Figure 6.
The larger barrier of cable or other sizes on ground is crossed when robot runs into second, it is impossible to directly get over
, can be by lifting the first mobile module of front end 2 and the front end of mobile track unit 8 of first mobile module 2 is inclined during barrier
Oblique section, which is placed on barrier, carries out obstacle detouring, as shown in Figure 7.
The third is the first mobile module 2 that robot lifts front end before barrier is encountered, and is encountering barrier
When, the main body flat segments of mobile track unit 8 of first mobile module 2, which are placed on barrier, carries out obstacle detouring, as shown in Figure 8.
In addition as shown in figure 9, obstacle detouring extreme position of the present utility model is when robot lifts the first mobile module of front end 2
Height of center of mass exceed barrier height when, robot could steadily surmount obstacles, wherein C1Moved for robot front end first
The position of centre of gravity of dynamic model block 2, l1For C1Distance away from the pitch rotation center of link block 3, H is the height of mobile module, prepares to get over
During barrier, the second mobile module 4 of robot rear end is held against ground, and the first mobile module of front end 2 lifts angle and bowed for joint
Rollback θ, the obstacle height h that can now cross is calculated as follows：
As shown in Figure 10, when robot carries out articulation steering in the plane, the certain point in plane can be regarded as
Rotary motion, it is assumed that robot inverse clockwise is turned to, and the center of gravity of two mobile modules is at the center of mobile module
Position, respectively point C1With point C2, instantaneous centre of rotation is point O, r1And r2The radius of turn of respectively two modules, rear end
The horizontal sextant angle of two mobile modules 4 and the first mobile module of front end 2 is φ, joint module point of rotation P range points C1With point C2Length
Degree is respectively l1And l2, then the radius of turn r of the first mobile module of front end 21Calculation formula is：
As shown in figure 11, so that robot is turned to the left as an example, when robot by lifting the mobile mould of rear and front end in turn
When block is turned to the left, robot is performed following operation by initial attitude in order：Robot link block pitch-control motor 35 rotates a
Angle, the first mobile module of front end 2 is lifted；The rotation β angle of robot link block yaw steering wheel 32, the mobile module of front end first
2 hanging left-hand rotations；Robot link block pitch-control motor rotation 35- α angles, the first mobile module of front end 2 lands；Robot is connected
Module pitch-control motor 35 rotates a angles, and the second mobile module of rear end 4 is lifted；Robot link block yaw steering wheel 32 rotates-β
Angle, the second mobile module of rear end 4 vacantly turns left；Robot link block pitch-control motor 35 rotates-a angles, and rear end second is moved
Dynamic model block 4 lands；So far it is a cycle, now, compared with original state, robot pose is constant, it is overall to have rotated β to the left
Angle.When the required anglec of rotation is larger, robot can repeat multiple cycles, to reach the target anglec of rotation.
Claims (8)
1. a kind of modularization robot for adapting to small space, it is characterised in that：Including camera pan-tilt (1), link block (3)
With two mobile modules, described two mobile modules are connected by link block (3), before the camera pan-tilt (1) is arranged on
The first mobile module (2) front end of side；The mobile module includes housing (7), mobile track unit (8), power drive system
(5) and motor (22), wherein moving track unit (8) is divided into housing (7) each side, motor (22) and power transmission
System (5) may be contained within housing (7) front end, and the power drive system (5) includes output transmission mechanism, worm screw (27), multiple
Worm gear (25) and multiple transfer case transmission mechanisms, the worm screw (27) are driven by the motor (22) and rotated, and the drive
Dynamic motor (22) transmits torque, circumference of the multiple worm gear (25) along the worm screw (27) by the output transmission mechanism
Direction is uniform, and mobile track unit (8) of the housing (7) per side is driven by any worm gear (25), and the worm gear
(25) torque is transmitted by any transfer case transmission mechanism, the set-up of control system of the camera pan-tilt (1) is moved in described first
In the housing (7) of dynamic model block (2), mobile track unit (8) front end is provided with one section of inclined tilting section in inside side.
2. the modularization robot according to claim 1 for adapting to small space, it is characterised in that：The PWTN
Output transmission mechanism in system (5) includes the travelling gears of two engagements, wherein the first travelling gear (29) is arranged at the drive
On the motor output shaft (30) of dynamic motor (22), the second travelling gear (28) is arranged at the worm shaft of the worm screw (27).
3. the modularization robot according to claim 1 for adapting to small space, it is characterised in that：The transfer driver
Structure is a synchronous belt drive mechanism, and wherein driving pulley (24) is arranged on the worm-wheel shaft of worm gear (25) (26), the movement
Track unit (8) front end is provided with crawler driving whell (13), and the driving pulley (24) is driven by timing belt (23) and the crawler belt
Driving wheel (13) is connected.
4. the modularization robot according to claim 1 for adapting to small space, it is characterised in that：The mobile crawler belt list
First (8) include the first crawler belt (15), the second crawler belt (21), track wheel shaft (20) and traveling wheel (18), each in the housing (7)
Surface both sides are equipped with track wheel shaft fixed mount (10), and track wheel shaft (20) two ends are separately mounted to the track wheel shaft of both sides
On fixed mount (10), crawler belt support wheel (19) is provided with the track wheel shaft (20), first crawler belt (15) and second carry out
Band (21) is supported by the crawler belt support wheel (19) on each track wheel shaft (20), and each track wheel shaft (20) two ends are equipped with row
Wheel (18) is sailed, the track wheel shaft (20) of the mobile track unit (8) foremost is provided with crawler driving whell (13).
5. the modularization robot according to claim 4 for adapting to small space, it is characterised in that：In the mobile crawler belt
Provided with an adjusting idler wheel axle (12) on front side of the track wheel shaft (20) of unit (8) foremost, in the adjusting idler wheel axle
(12) adjusting idler wheel (11) is provided with, first crawler belt (15) and the inside foremost of the second crawler belt (21) are rolled tiltedly and led to
Adjusting idler wheel (11) support crossed on the adjusting idler wheel axle (12).
6. the modularization robot according to claim 5 for adapting to small space, it is characterised in that：In the mobile crawler belt
The bending part of unit (8) is provided with a crawler tensioning wheel shaft (16), provided with two crawler belts on the crawler tensioning wheel shaft (16)
Tensioning wheel, is tilted wherein the first crawler belt (15) bypasses the backward inner side of the first crawler tension wheel (14), and the second crawler belt (21) bypasses the
The backward inner side of two crawler tension wheels (17) is tilted.
7. the modularization robot according to claim 6 for adapting to small space, it is characterised in that：Described two mobile moulds
Block front end is equipped with pole, and the adjusting idler wheel axle (12) and crawler tensioning wheel shaft (16) two ends are packed in the branch of both sides respectively
On bar.
8. the modularization robot according to claim 1 for adapting to small space, it is characterised in that：The link block
(3) pitch-control motor (35), yaw steering wheel (32), the first steering wheel fixed mount (33), the second steering wheel fixed mount (31) and cross are included
Link (34), the first steering wheel fixed mount (33) and the second steering wheel fixed mount (31) are hingedly connected to cross link (34)
On, and the first steering wheel fixed mount (33) pitching, the second steering wheel fixed mount (31) horizontally rotates, pitch-control motor
(35) it is arranged on the first steering wheel fixed mount (33), yaw steering wheel (32) is arranged on the second steering wheel fixed mount (31)
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621454910.8U CN206475957U (en) | 2016-12-28 | 2016-12-28 | Modularized robot suitable for narrow space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621454910.8U CN206475957U (en) | 2016-12-28 | 2016-12-28 | Modularized robot suitable for narrow space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206475957U true CN206475957U (en) | 2017-09-08 |
Family
ID=59750363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621454910.8U Active CN206475957U (en) | 2016-12-28 | 2016-12-28 | Modularized robot suitable for narrow space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206475957U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044631A (en) * | 2017-12-13 | 2018-05-18 | 国网浙江新昌县供电有限公司 | A kind of cable duct status checkout robot |
| CN108248707A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
-
2016
- 2016-12-28 CN CN201621454910.8U patent/CN206475957U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248707A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN108044631A (en) * | 2017-12-13 | 2018-05-18 | 国网浙江新昌县供电有限公司 | A kind of cable duct status checkout robot |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
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